阅读说明：本技术 一种复合翼无人机悬停自动对风的方法 (Hovering automatic wind alignment method for composite wing unmanned aerial vehicle ) 是由 罗继安 许长春 陈著 于 2020-12-15 设计创作，主要内容包括：本发明一种复合翼无人机悬停自动对风的方法,无人机在旋翼模态下垂直起降时,分定点悬停阶段、航向调整阶段两个阶段控制无人机机头方向自动对准风的来流方向,使机头迎风以提高无人机的抗风能力。当无人机刚起飞或准备垂直降落时,无人机先进入定点悬停阶段,无人机定点悬停时间t后,即刻进入航向调整阶段,根据滚转角指令判断,结合旋翼拉力的水平分力、旋翼旋转反扭矩差及固定翼方向舵提高无人机偏航角速率的控制能力,调整机头航向,实现自动对风。(The invention relates to a hovering automatic wind alignment method for a composite wing unmanned aerial vehicle, which is characterized in that when the unmanned aerial vehicle vertically takes off and lands in a rotor wing mode, the direction of a nose of the unmanned aerial vehicle is controlled to automatically align with the incoming flow direction of wind in two stages, namely a fixed-point hovering stage and a course adjusting stage, so that the nose faces the wind to improve the wind resistance of the unmanned aerial vehicle. When the unmanned aerial vehicle just takes off or is ready for vertical landing, the unmanned aerial vehicle firstly enters a fixed-point hovering stage, and immediately enters a course adjusting stage after the fixed-point hovering time t of the unmanned aerial vehicle, the control capability of the yaw rate of the unmanned aerial vehicle is improved by combining the horizontal component of the tension of the rotor wing, the rotary reaction torque difference of the rotor wing and the fixed wing rudder according to the judgment of the rolling angle instruction, the course of the aircraft nose is adjusted, and automatic wind alignment is realized.)

1. A method for hovering and automatically facing wind of a composite wing unmanned aerial vehicle is characterized by comprising the following steps:

(1) when the unmanned aerial vehicle just takes off or is ready for vertical landing, the unmanned aerial vehicle firstly enters a fixed-point hovering stage, so that the unmanned aerial vehicle can hover at a fixed point on a set hovering fixed point and within a set distance from the hovering fixed point;

(2) judging whether manual intervention exists or not within the set fixed point hovering time t of the unmanned aerial vehicle, if so, timing again, and returning to the fixed point hovering stage; otherwise, entering a course adjusting stage immediately, determining a roll angle expected to be reached according to the horizontal distance between the hovering fixed point position hovering at the fixed point of the unmanned aerial vehicle and the current position of the unmanned aerial vehicle, forming a roll angle instruction, and judging whether the roll angle instruction reaches a set roll angle threshold value or not according to the roll angle instruction; if so, performing the step (3), otherwise, not adjusting the course of the unmanned aerial vehicle;

(3) and adjusting the course of the unmanned aerial vehicle to enable the machine head to be aligned with the incoming flow direction, and completing automatic wind alignment when the unmanned aerial vehicle hovers.

2. The method of claim 1, wherein the method comprises the following steps: when an unmanned aerial vehicle just takes off or is ready to vertically land, the unmanned aerial vehicle firstly enters a fixed-point hovering stage, so that the unmanned aerial vehicle hovers at a fixed point on a set hovering fixed point and within a set distance from the hovering fixed point; the method comprises the following specific steps:

when the unmanned aerial vehicle takes off or lands, the unmanned aerial vehicle is controlled in a rotor mode, the unmanned aerial vehicle cuts into a fixed-point hovering mode to realize fixed-height fixed-point control of the unmanned aerial vehicle, and fixed-point hovering is realized by adjusting pitching or rolling postures under the condition of no manual remote control intervention.

3. The method of claim 1, wherein the method comprises the following steps: in rotor mode control means: only the rotor provides power for unmanned aerial vehicle, does not have other power sources, controls the aircraft.

4. The method of claim 1, wherein the method comprises the following steps: the fixed-point hovering mode is a state in which the unmanned aerial vehicle hovers gradually until the unmanned aerial vehicle reaches a hovering fixed point by using a set hovering fixed point as a target position through position control.

5. The method of claim 1, wherein the method comprises the following steps: under the condition of no manual remote control intervention, the fixed-point hovering is realized by adjusting the pitching or rolling postures, which specifically comprises the following steps:

under the condition of no wind or completely direct wind and counter wind, the unmanned aerial vehicle hovers for a long time at a fixed point, only the pitching attitude is adjusted, and a rolling angle instruction phi is generated_cThe angle is 0 degrees, and the heading of the machine head does not need to be adjusted;

under the crosswind environment, the unmanned aerial vehicle control position maintains fixed-point hovering, does not adjust the pitching attitude, and only generates a rolling angle instruction phi_cAnd the unmanned aerial vehicle is maintained to hover at a fixed point by controlling the roll angle to resist crosswind.

6. The method of claim 1, wherein the method comprises the following steps: after the unmanned aerial vehicle enters a course adjustment stage, the following control strategies are adopted: (1) the unmanned aerial vehicle continues to maintain the fixed-point hovering mode; (2) judging the current roll angle instruction phi_cAbsolute value of (phi)_cIf | is larger than the set threshold value phi, if the current roll angle instruction phi_cAbsolute value of (phi)_cIf the | is larger than the set threshold value phi, generating a yaw rate control command of the unmanned aerial vehicle, and controlling the yaw rate of the unmanned aerial vehicle so as to control and adjust the heading of the head of the unmanned aerial vehicle, so that the head faces the wind, and course adjustment is completed.

Technical Field

The invention relates to a method for hovering and automatically facing wind of a composite wing unmanned aerial vehicle, and belongs to the technical field of control of composite wing unmanned aerial vehicles.

Background

The composite wing unmanned aerial vehicle has the advantages of vertical take-off and landing and long endurance, and has wide application range, and the advantages of the helicopter and the fixed wing aircraft are taken into consideration. However, for a composite wing unmanned aerial vehicle, the anti-crosswind capability of the unmanned aerial vehicle in the vertical take-off and landing stage is generally poor, and the yaw moment generated by the control mode is small and cannot be sufficiently offset when the unmanned aerial vehicle takes off and lands under strong crosswind because the unmanned aerial vehicle mainly controls the yaw by the rotary wing rotating reaction torque. Under the condition of crosswind, the attitude control quantity is easily saturated due to the control of the course and the wind resistance, so that the attitude is unstable due to insufficient attitude control capability, and even an accident is caused by large attitude oscillation. And when the unmanned aerial vehicle aircraft nose windward, unmanned aerial vehicle's anti-wind ability is stronger relatively.

When most of composite wing unmanned aerial vehicles take off and land or hover vertically, the aircraft nose course of the unmanned aerial vehicle is often required to be adjusted through human intervention, so that the aircraft nose course cannot be adjusted in time according to the wind direction, and the attitude stability of the unmanned aerial vehicle is poor. When course is controlled, the rotary wing rotation reaction torque control is mainly used, and the yaw moment generated by the single control mode is small, the control efficiency is low, and the realization effect is poor.

Disclosure of Invention

The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, and provides the method for the composite wing unmanned aerial vehicle to hover and automatically face the wind.

The technical scheme of the invention is as follows: a method for hovering and automatically facing wind of a composite wing unmanned aerial vehicle comprises the following steps:

(1) when the unmanned aerial vehicle just takes off or is ready for vertical landing, the unmanned aerial vehicle firstly enters a fixed-point hovering stage, so that the unmanned aerial vehicle can hover at a fixed point on a set hovering fixed point and within a set distance from the hovering fixed point;

(2) judging whether manual intervention exists or not within the set fixed point hovering time t of the unmanned aerial vehicle, if so, timing again, and returning to the fixed point hovering stage; otherwise, entering a course adjusting stage immediately, determining a roll angle expected to be reached according to the horizontal distance between the hovering fixed point position hovering at the fixed point of the unmanned aerial vehicle and the current position of the unmanned aerial vehicle, forming a roll angle instruction, and judging whether the roll angle instruction reaches a set roll angle threshold value or not according to the roll angle instruction; if so, performing the step (3), otherwise, not adjusting the course of the unmanned aerial vehicle;

(3) and adjusting the course of the unmanned aerial vehicle to enable the machine head to be aligned with the incoming flow direction, and completing automatic wind alignment when the unmanned aerial vehicle hovers.

Preferably, in the step (1), when the unmanned aerial vehicle just takes off or is ready to vertically land, the unmanned aerial vehicle enters a fixed-point hovering stage first, so that the unmanned aerial vehicle hovers at a fixed point on a set hovering fixed point and within a set distance from the hovering fixed point; the method comprises the following specific steps:

when the unmanned aerial vehicle takes off or lands, the unmanned aerial vehicle is controlled in a rotor mode, the unmanned aerial vehicle cuts into a fixed-point hovering mode to realize fixed-height fixed-point control of the unmanned aerial vehicle, and fixed-point hovering is realized by adjusting pitching or rolling postures under the condition of no manual remote control intervention.

Preferably, in the rotor mode control means: only the rotor provides power for unmanned aerial vehicle, does not have other power sources, controls the aircraft.

Preferably, the fixed-point hovering mode is a state in which the unmanned aerial vehicle hovers gradually close to the set hovering fixed point serving as a target position through position control until the hovering fixed point is reached.

Preferably, under the condition of no manual remote control intervention, the fixed-point hovering is realized by adjusting the pitching or rolling postures, which is as follows:

under the condition of no wind or completely direct wind and counter wind, the unmanned aerial vehicle hovers for a long time at a fixed point, only the pitching attitude is adjusted, and a rolling angle instruction phi is generated_cThe angle is 0 degrees, and the heading of the machine head does not need to be adjusted;

under the crosswind environment, the unmanned aerial vehicle control position maintains fixed-point hovering, does not adjust the pitching attitude, and only generates a rolling angle instruction phi_cThe unmanned aerial vehicle is maintained to hover at a fixed point by controlling the roll angle to resist crosswind;

preferably, after the unmanned aerial vehicle enters the course adjustment stage, the following control strategies are adopted: (1) the unmanned aerial vehicle continues to maintain the fixed-point hovering mode; (2) judging the current roll angle instruction phi_cAbsolute value of (phi)_cIf | is larger than the set threshold value phi, if the current roll angle instruction phi_cAbsolute value of (phi)_cIf the | is larger than the set threshold value phi, generating a yaw rate control command of the unmanned aerial vehicle, and controlling the yaw rate of the unmanned aerial vehicle so as to control and adjust the heading of the head of the unmanned aerial vehicle, so that the head faces the wind, and course adjustment is completed.

Compared with the prior art, the invention has the advantages that:

(1) the invention is controlled in two stages, effectively solves the problem of side wind resistance of the composite wing unmanned aerial vehicle in the vertical take-off and landing stage or during suspension, avoids the condition of insufficient attitude control allowance caused by course control, can effectively reduce the capability loss and improve the endurance.

(2) According to the invention, crosswind is converted into windward, so that the wind resistance of the unmanned aerial vehicle is improved, the unmanned aerial vehicle can take off and land in an environment with higher wind speed, the task requirement is completed, and the time cost is saved.

(3) The invention is beneficial to improving the yaw control capability of the unmanned aerial vehicle through the combined action of the rotor wing reaction torque, the lift force plane inclination and the rudder, so that the unmanned aerial vehicle can quickly and effectively respond to the automatic wind control.

Drawings

FIG. 1 is a schematic view of a composite wing drone of the present invention.

FIG. 2 is a logic diagram of the automatic wind alignment control of the composite wing UAV of the present invention;

FIG. 3 is a block diagram of lateral control of fixed point control of a composite wing drone in accordance with the present invention;

FIG. 4 is a block diagram of yaw control of the composite wing drone of the present invention during windward operation;

Detailed Description

The invention is described in further detail below with reference to the figures and specific embodiments.

The invention relates to a hovering automatic wind alignment method for a composite wing unmanned aerial vehicle, which is characterized in that when the unmanned aerial vehicle vertically takes off and lands in a rotor wing mode, the direction of a nose of the unmanned aerial vehicle is controlled to automatically align with the incoming flow direction of wind in two stages, namely a fixed-point hovering stage and a course adjusting stage, so that the nose faces the wind to improve the wind resistance of the unmanned aerial vehicle. When the unmanned aerial vehicle just takes off or is ready for vertical landing, the unmanned aerial vehicle firstly enters a fixed-point hovering stage, and immediately enters a course adjusting stage after the fixed-point hovering time t of the unmanned aerial vehicle, the control capability of the yaw rate of the unmanned aerial vehicle is improved by combining the horizontal component of the tension of the rotor wing, the rotary reaction torque difference of the rotor wing and the fixed wing rudder according to the judgment of the rolling angle instruction, the course of the aircraft nose is adjusted, and automatic wind alignment is realized.

The method is mainly applied to the vertical take-off and landing or hovering of the composite wing unmanned aerial vehicle, and automatic wind alignment is realized. The compound wing unmanned aerial vehicle takes off, lands or hovers in an environment with uncertain wind direction and constantly changing wind speed, and the method of the invention can automatically adjust the heading of the aircraft nose at any time to enable the unmanned aerial vehicle to face the wind, effectively prevent the control quantity of the rotor wing from being saturated, and simultaneously improve the flight stability of the unmanned aerial vehicle and the cruising ability of a rotor wing power system; unmanned aerial vehicle's automation also can alleviate operating personnel burden to wind, makes the staff can concentrate on the task with main energy, and not unmanned aerial vehicle's safety.

The preferred scheme is as follows: the preferred scheme of the compound wing unmanned aerial vehicle applying the method of the invention is as shown in figure 1, the unmanned aerial vehicle consists of a fuselage, wings, double-tail support rods, an inverted V-shaped tail, an engine T and 4 rotor systems (M1, M2, M3 and M4), and the compound wing unmanned aerial vehicle of 'fixed wing + four rotors' is formed. The inverted V-shaped tail is provided with an operation control surface which can be used as a rudder, and the wind-handling capacity of the unmanned aerial vehicle during taking off and landing or hovering can be improved in a wind environment. Rotor system installation and two tail vaulting poles for unmanned aerial vehicle's take off and land and hover, for unmanned aerial vehicle provides power and control unmanned aerial vehicle gesture, after its controlled quantity saturates, will cause unmanned aerial vehicle flight stability variation, the continuation of the journey to reduce. The rotary plane of the rotor wing is obliquely arranged between the double tail supports and forms an included angle of 3-5 degrees with the horizontal plane. Therefore, the pulling force of the rotor wing can generate a horizontal component force pointing to the inner side, and the heading control capability of the unmanned aerial vehicle is enhanced.

The invention discloses a method for hovering and automatically facing wind of a composite wing unmanned aerial vehicle, which comprises the following steps in an optimal scheme as shown in figure 2:

(1) when the unmanned aerial vehicle just takes off or is ready for vertical landing, the unmanned aerial vehicle firstly enters a fixed-point hovering stage, so that the unmanned aerial vehicle can hover at a fixed point on a set hovering fixed point and within a set distance from the hovering fixed point; the preferred scheme comprises the following steps:

when the unmanned aerial vehicle takes off to the height of 2-5 m from the ground or is prepared to vertically land from the height of 30-50 m from the ground, the unmanned aerial vehicle firstly enters a fixed-point hovering stage, so that the unmanned aerial vehicle hovers at a fixed point and within a set distance L from the hovering fixed point (taking L as 2m, wherein the hovering area is a circular area which takes the hovering fixed point as the center of a circle and has the radius of 2 m); the method comprises the following specific steps:

when the unmanned aerial vehicle takes off or lands, the unmanned aerial vehicle is controlled in a rotor mode, the unmanned aerial vehicle is switched into a fixed-point hovering mode to realize fixed-height and fixed-point control of the unmanned aerial vehicle, and fixed-point hovering is realized by adjusting pitching or rolling postures under the condition of no manual remote control intervention;

in rotor mode control means: only the rotors (M1, M2, M3 and M4) provide power for the unmanned aerial vehicle, and no other power source (the engine T does not work) is provided for controlling the aircraft.

The fixed-point hovering mode is a state in which the unmanned aerial vehicle hovers gradually until the unmanned aerial vehicle reaches a hovering fixed point by using a set hovering fixed point as a target position through position control.

(2) Judging whether manual intervention exists or not within the set fixed point hovering time t of the unmanned aerial vehicle, if so, timing again, and returning to the fixed point hovering stage; otherwise, entering a course adjusting stage immediately, determining a roll angle expected to be reached according to the horizontal transverse distance between the hovering fixed point position hovering at the fixed point of the unmanned aerial vehicle and the current position of the unmanned aerial vehicle, forming a roll angle instruction, and judging whether the roll angle instruction reaches a set roll angle threshold value according to the roll angle instruction; if so, performing the step (3), otherwise, not adjusting the course of the unmanned aerial vehicle; the preferred scheme comprises the following steps:

the preferred scheme is as follows: the set fixed-point hovering time t of the unmanned aerial vehicle specifically requires: the unmanned aerial vehicle can hover for a sufficient time to generate a stable pitch angle or a stable roll angle, and meanwhile, too much endurance is not lost, and t is preferably more than 5s and less than 10 s.

Manual intervention, which means: the posture or the position of the unmanned aerial vehicle is adjusted through a remote controller or other artificial means, so that the unmanned aerial vehicle exits from the automatic hovering state at the hovering fixed point.

The preferred scheme is as follows: according to the horizontal transverse distance Y between the hovering fixed point position hovering at the fixed point of the unmanned aerial vehicle and the current position of the unmanned aerial vehicle, determining the expected roll angle, forming a roll angle instruction, specifically: as shown in the control block diagram of FIG. 3, the horizontal transverse distance Y is largeSmall-sized unmanned aerial vehicle transverse movement speed V_cFrom V to_cCalculating the roll angle required by the unmanned aerial vehicle at the moment, namely calculating the roll angle command phi_cThe control law is shown in the following formula, whereinThe proportional gains of distance to speed, speed to roll angle, respectively, are preferably:

the preferred scheme is as follows: according to the roll angle command phi_cJudging the roll angle command phi_cAbsolute value of (phi)_cWhether | reaches a set roll angle threshold Φ is specifically: the size of the roll angle threshold phi reflects the sensitivity of automatic course adjustment, and the smaller the phi value is, the more sensitive the course adjustment is. Here, phi is taken to be 5 DEG, when phi is_c|>And when the angle is 5 degrees, the heading of the nose needs to be adjusted to face the wind, otherwise, the adjustment is not needed.

Under the condition of no manual remote control intervention, the fixed-point hovering is realized by adjusting the pitching or rolling postures, and the preferable scheme is as follows:

the preferred scheme is as follows: under the condition of no wind or completely downwind and upwind, the unmanned aerial vehicle hovers at a fixed point for a long time, only the pitching attitude is adjusted, the rotating speeds of the rotors M1 and M2 are increased in downwind, the rotating speeds of the rotors M3 and M4 are reduced, the unmanned aerial vehicle is controlled to lift, and the downwind is resisted; reducing the rotating speed of the rotors M1 and M2 in upwind, increasing the rotating speed of the rotors M3 and M4, controlling the head of the unmanned aerial vehicle to be lowered, resisting the upwind until the unmanned aerial vehicle is in a hovering area, not adjusting the rolling attitude, and generating a rolling angle command phi_cThe angle is 0 degrees, and the heading of the machine head does not need to be adjusted;

the preferred scheme is as follows: under the side wind environment, the wind direction comes from two sides of the wings, the unmanned aerial vehicle control position maintains fixed-point hovering, the pitching attitude is not adjusted, only the rolling angle is adjusted, and a rolling angle instruction phi is generated_c. When the left side wind is met, the rotating speeds of the rotors M2 and M3 are reduced, and the rotating speeds of the rotors M1 and M4 are increased, so that the unmanned aerial vehicle generates a left roll angle, and at the moment, phi is_c<Controlling the unmanned aerial vehicle in the hovering area at 0 degrees; when the unmanned aerial vehicle encounters right side wind, the rotating speeds of the rotary wings M2 and M3 are increased, and the rotating speeds of the rotary wings M1 and M4 are reduced, so that the unmanned aerial vehicle generates a right roll angle phi_c>0 degrees, the unmanned aerial vehicle is maintained to hover at a fixed point by controlling the roll angle to resist crosswind;

the preferred scheme is as follows: after the unmanned aerial vehicle enters a course adjustment stage, the following control strategies are adopted: (1) the unmanned aerial vehicle continues to maintain the fixed-point hovering mode; (2) judging the current roll angle instruction phi_cAbsolute value of (phi)_cIf | is larger than the set threshold value phi, if the current roll angle instruction phi_cAbsolute value of (phi)_cIf | is greater than the set threshold value phi, generating a yaw rate control command phi of the unmanned aerial vehicle_c<Left roll at 0 deg. to generate a yaw rate command phi in the counterclockwise direction_c>And when the angle is 0 degree, the unmanned aerial vehicle rolls to the right, generates a yaw rate instruction in the clockwise direction, and controls the yaw rate of the unmanned aerial vehicle so as to control and adjust the heading of the head of the unmanned aerial vehicle, so that the head faces the wind and the heading adjustment is completed.

(3) And adjusting the course of the unmanned aerial vehicle to enable the machine head to be aligned with the incoming flow direction, and completing automatic wind alignment when the unmanned aerial vehicle hovers. The preferred scheme comprises the following steps:

control block diagram as shown in FIG. 4, when encountering left wind, and phi_c<At-5 deg., according to the preferred formula

Calculating to obtain a yaw rate instruction d psi of the unmanned aerial vehicle_cThe command controls the drone to yaw at a yaw rate d psi_cAnd yawing movement is carried out on anticlockwise rotation, so that the unmanned aerial vehicle rotates anticlockwise, the heading of the machine head is adjusted, and the machine head is aligned to the incoming flow.For proportional gain from roll angle command to yaw rate command, reflecting automatic sensitivity to wind, it is preferred to chooseAt this time, the rotation speeds of the motors M1 and M3 are increased, the rotation speeds of the motors M2 and M4 are decreased, and the unmanned aerial vehicle receives a counterclockwise rotation torque. Meanwhile, an included angle of 3-5 degrees is formed between the rotation plane of the rotor wing and the horizontal plane, the left horizontal component force of M1 and the right horizontal component force of M3 are increased, the right horizontal component force of M2 and the left horizontal component force of M4 are reduced, and the moment of anticlockwise rotation of the unmanned aerial vehicle is increased. And unmanned aerial vehicle's "V" tail that falls has certain weather vane effect, makes unmanned aerial vehicle rotatory to the incoming flow direction naturally, and the cooperation rudder left deflection this moment can multiplicable unmanned aerial vehicle counter-clockwise turning's moment to wind is realized to minimum energy, effectively improves unmanned aerial vehicle's duration.

The total rotation moment of the unmanned aerial vehicle is preferably as follows:

the total rotating moment is the reaction torque of the rotation of the rotor wing, the horizontal component distance of the pulling force of the rotor wing and the moment generated by the rudder

When encountering right side wind, phi_c>At 5 deg., obtaining yaw rate command d psi_cControlling the unmanned aerial vehicle to yaw at a yaw rate d psi_cAnd rotating clockwise to make yawing motion, and adjusting the heading of the unmanned aerial vehicle head to align the unmanned aerial vehicle head to the incoming flow in a manner opposite to that of the left wind.

The machine head aims at the incoming flow direction, and the method specifically comprises the following steps: the course of the machine head is adjusted to turn to the direction of the incoming flow, the crosswind is gradually changed into headwind along with the adjustment of the course of the machine head in the process, and the absolute value of the required roll angle instruction is phi_cI is also gradually decreased when phi_c|<And when the angle is 5 degrees, the course adjustment is finished, and the course of the head of the unmanned aerial vehicle is considered to be aligned with the incoming flow direction at the moment.

The invention realizes the scheme of automatically improving the wind stability:

unmanned aerial vehicle passes through every single move controlled variable delta_pitchRoll control amount delta_rollHeading control amount delta_yawControlling stable hovering of the unmanned aerial vehicle. When the unmanned aerial vehicle is in crosswind suspension, delta_rollAnd delta_yawWill increase, is prone to | δ_roll+δ_yaw| is equal to or greater than 0.2, resulting in saturation of the controlled amount. By automatically opposing the wind, delta can be reduced_rollAnd delta_yawBut delta_pitchSlightly increased, when the condition is satisfied: | δ_pitch+δ_roll+δ_yaw| < 0.1 (wherein-0.2 ≦ δ_pitch≤0.2，-0.2≤δ_roll≤0.2，-0.2≤δ_yawNot more than 0.2), unmanned aerial vehicle has sufficient control allowance, and its stability obtains improving.

The invention realizes a further optimized scheme for automatically improving the wind efficiency:

when the unmanned aerial vehicle is automatically facing the wind, the heading control quantity delta of the rotor wing is used_yawControl quantity delta with rudder_rudRealizing the yaw motion of the unmanned aerial vehicle, wherein the heading control quantity delta_yawCan generate rotary wing rotary reaction torque and rotary wing pulling force F horizontal component force F simultaneously_yMoment of (d), rudder control quantity delta_rudThe wind speed is high, and the effect is good. Delta without affecting the control effect_yawThe smaller the unmanned aerial vehicle is, the higher the efficiency of the unmanned aerial vehicle to wind is, and the higher the flight stability is. So as to ensure the lift force F_LOn the premise of enough, the efficiency of automatic wind alignment can be improved by increasing the horizontal component force moment of the rotor wing pulling force, and F is_y＝F*sin(τ),F_LF cos (τ), τ is the angle of the rotor plane of rotation with the horizontal. When the condition is satisfied: f_La/F is not less than 99.5%, and F_Ythe/F is more than or equal to 0.2 percent, namely when the tau is taken to be 3-5 degrees, the influence on the lifting force is small, and the automatic wind-facing efficiency can be improved.

The preferred scheme is as follows: testing flight in the environment of crosswind 5m/s, if hovering, not doing automatic wind aiming, the pitching control quantity is delta_pitchThe roll control amount is δ when equal to 0_roll0.1, the heading control amount δ_yaw＝0.15，|δ_pitch+δ_roll+δ_yaw|＝0.25>0.2, the control quantity is saturated, and the flight stability is poor; when automatic wind alignment is carried out, crosswind is converted into headwind, and the stable hovering control quantity of the unmanned aerial vehicle is as follows: delta_pitch＝0.08，δ_roll＝0，δ_yaw＝0，|δ_pitch+δ_roll+δ_yaw|＝0.08<And 0.1, indicating that a control margin is left, and meeting the stable hovering condition of the unmanned aerial vehicle. After automatic to the wind through accomplishing, unmanned aerial vehicle flight stability improves, and continuation of the journey improves.

The invention is controlled in two stages, effectively solves the problem of side wind resistance of the composite wing unmanned aerial vehicle in the vertical take-off and landing stage or suspension, avoids the condition of insufficient attitude control allowance caused by course control, can effectively reduce the capability loss and improve the endurance; according to the invention, crosswind is converted into windward, so that the wind resistance of the unmanned aerial vehicle is improved, the unmanned aerial vehicle can take off and land in an environment with higher wind speed, the task requirement is completed, and the time cost is saved.

The invention is beneficial to improving the yaw control capability of the unmanned aerial vehicle through the combined action of the rotor wing reaction torque, the lift force plane inclination and the rudder, so that the unmanned aerial vehicle can quickly and effectively respond to the automatic wind control.